resetting bin-picking env

Farama-Foundation · Jan 13, 2024 · e9da213 · e9da213
1 parent 57d0ec1
commit e9da213
Showing 1 changed file with 2 additions and 4 deletions.
diff --git a/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_bin_picking_v2.py b/metaworld/envs/mujoco/sawyer_xyz/v2/sawyer_bin_picking_v2.py
@@ -177,11 +177,9 @@ def compute_reward(self, action, obs):
         )
         reward = reward_utils.hamacher_product(object_grasped, in_place)
 
-        near_object = np.linalg.norm(obj - hand) < 0.05
+        near_object = np.linalg.norm(obj - hand) < 0.04
         pinched_without_obj = obs[3] < 0.43
-        lifted = obj[2] > self.obj_init_pos[2]
-        print(near_object, lifted, near_object)
-        print(np.linalg.norm(obj - hand), obj[2], self.obj_init_pos[2], obs[3])
+        lifted = obj[2] - 0.02 > self.obj_init_pos[2]
         # Increase reward when properly grabbed obj
         grasp_success = near_object and lifted and not pinched_without_obj
         if grasp_success: